Driving Dynamics Control of a Vehicle by Means of Dampers

Abstract

The invention relates to a method for controlling the driving dynamics of a vehicle by means of dampers, wherein the vehicle comprises at least two axles, which each have at least two wheels including dampers, and wherein the method has the following control:a) Obtaining a target driving dynamics variable;b) determining a control deviation using the target driving dynamics variable and an actual driving dynamics variable;c) Changing the damper force of at least one damper according to the control deviation;d) Updating and feeding back the actual driving dynamics variable to once again determine the control deviation when the damper force changes.

What is claimed is: 
     
         1 . A method for controlling the driving dynamics of a vehicle using dampers,
 wherein the vehicle comprises at least two axles, which each have at least two wheels, each wheel with one damper, the method comprising the following control:   obtaining a target driving dynamics variable;   determining a control deviation using the target driving dynamics variable and an actual driving dynamics variable;   changing the damper force of at least one damper according to the control deviation; and   updating and feeding back the actual driving dynamics variable when the damper force changes to again determine the control deviation.   
     
     
         2 . The method of  claim 1 , comprising measuring the actual driving dynamics variable with a sensor and/or ascertaining the actual driving dynamics based on a model. 
     
     
         3 . The method of  claim 1 , wherein, to change the damper force, a target variable relating to the damper force is output to a damper control device. 
     
     
         4 . The method of  claim 1 , wherein the damper force is changed individually for each wheel. 
     
     
         5 . The method of  claim 1 , wherein the damper force is changed individually for each axle. 
     
     
         6 . The method of  claim 1 , comprising, in the case of understeer, increasing the damper forces on a front axle and/or decreasing the damper forces on a rear axle. 
     
     
         7 . The method of  claim 1 , comprising, in the case of oversteer, reducing the damper forces on a front axle and/or increasing the damper forces on a rear axle. 
     
     
         8 . The method of  claim 1 ,
 wherein the change of the damper force is dependent on a driving speed and/or of a lateral acceleration.   
     
     
         9 . A vehicle, with at least two axles, which axles each have at least two wheels, each wheel with one damper, and with a control apparatus which is configured to:
 determine a target driving dynamics variable;   determine a control deviation using the target driving dynamics variable and an actual driving dynamics variable;   based on this, determine a specification relating to a change of the damper force of at least one damper; and   again determine the control deviation on the basis of the actual driving dynamics variable when the damper force changes.   
     
     
         10 . A control device for a vehicle with at least two axles, which axles each have at least two wheels, each wheel with one damper, the control device being configured to:
 determine a target driving dynamics variable;   determine a control deviation using the target driving dynamics variable and an actual driving dynamics variable;   based on this, determine a specification relating to a change of the damper force of at least one damper; and   again determine the control on the basis of the actual driving dynamics variable when the damper force changes.   
     
     
         11 . The method of  claim 2 , wherein, to change the damper force, a target variable relating to the damper force is output to a damper control device. 
     
     
         12 . The method of  claim 2 , wherein the damper force is changed individually for each wheel. 
     
     
         13 . The method of  claim 3 , wherein the damper force is changed individually for each wheel. 
     
     
         14 . The method of  claim 2 , wherein the damper force is changed individually for each axle. 
     
     
         15 . The method of  claim 3 , wherein the damper force is changed individually for each axle. 
     
     
         16 . The method of  claim 4 , wherein the damper force is changed individually for each axle. 
     
     
         17 . The method of  claim 2 , comprising, in the case of understeer, increasing the damper forces on a front axle and/or decreasing the damper forces on a rear axle. 
     
     
         18 . The method of  claim 3 , comprising, in the case of understeer, increasing the damper forces on a front axle and/or decreasing the damper forces on a rear axle. 
     
     
         19 . The method of  claim 4 , comprising, in the case of understeer, increasing the damper forces on a front axle and/or decreasing the damper forces on a rear axle. 
     
     
         20 . The method of  claim 5 , comprising, in the case of understeer, increasing the damper forces on a front axle and/or decreasing the damper forces on a rear axle.